CN110744571A - Robot hand-held control device - Google Patents
Robot hand-held control device Download PDFInfo
- Publication number
- CN110744571A CN110744571A CN201911096180.7A CN201911096180A CN110744571A CN 110744571 A CN110744571 A CN 110744571A CN 201911096180 A CN201911096180 A CN 201911096180A CN 110744571 A CN110744571 A CN 110744571A
- Authority
- CN
- China
- Prior art keywords
- arm
- handle
- controller
- control chip
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000009471 action Effects 0.000 claims abstract description 48
- 239000011664 nicotinic acid Substances 0.000 claims abstract description 37
- 210000000707 wrist Anatomy 0.000 claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims description 18
- 230000005284 excitation Effects 0.000 claims description 7
- 230000004044 response Effects 0.000 abstract description 2
- 230000001276 controlling effect Effects 0.000 description 20
- 238000010586 diagram Methods 0.000 description 8
- 230000003592 biomimetic effect Effects 0.000 description 7
- 230000000875 corresponding effect Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000011347 resin Substances 0.000 description 2
- 229920005989 resin Polymers 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
- B25J3/04—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
Abstract
The invention relates to a hand-held control device of a robot, which is characterized in that: comprises a handle controller and an arm controller; the handle controller comprises a handle sensing module and a handle control chip, wherein the handle sensing module is used for sensing the wrist action of an operator, the handle control chip is used for converting the wrist action into a wrist action signal, and the handle sensing module is in communication connection with the handle control chip; the arm controller comprises an arm sensing module for sensing arm actions of an operator and an arm control chip for converting the arm actions into arm action signals, and the arm sensing module is in communication connection with the arm control chip; the handle control chip and/or the arm control chip are/is communicated and interconnected with a robot control chip on the bionic robot; the handle controller is provided with more than one control key for controlling the bionic robot to move, and the control keys are connected with a handle control chip. The hand-held control device of the robot has the advantages of sensitive response, high accuracy, simple and convenient operation and stable control performance.
Description
Technical Field
The invention relates to a robot, in particular to a hand-held control device of the robot.
Background
The robot controller is a device for controlling the robot to complete a series of actions or operation tasks according to instructions and sensing information, is the heart of the robot and determines the quality of the performance of the robot; the control mode of the intelligent bionic small robot in the current market generally uses a handle remote control mode, a remote control handle consisting of a plurality of or more than ten keys is generally adopted, the intelligent bionic small robot is suitable for controlling the movement of a robot chassis, certain edited specific actions, single repeated specific actions and the like, each group of actions are controlled by the keys, each key corresponds to one group of actions, and if other actions are required to be changed and edited again, the operation is very complicated and the control difficulty is high; in addition, the remote control communication mode of the traditional controller is infrared remote control, the communication mode is easy to be interfered or failed, the effective operation distance of the infrared remote control is short, generally about 100 meters, the infrared remote control cannot be operated when exceeding the control range, and therefore the traditional controller cannot be operated in a long distance.
Therefore, there is a need for further improvements to existing robot controllers.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a robot hand-held control device which is sensitive in response, high in accuracy, simple and convenient to operate and stable in control performance.
The purpose of the invention is realized as follows:
a control device is held to robot, its characterized in that: the bionic robot comprises a handle controller for controlling the movement of a bionic robot wrist and an arm controller for controlling the movement of a bionic robot arm; the handle controller comprises a handle sensing module and a handle control chip, wherein the handle sensing module is used for sensing the wrist action of an operator, the handle control chip is used for converting the wrist action into a wrist action signal, and the handle sensing module is in communication connection with the handle control chip; the arm controller comprises an arm sensing module for sensing arm actions of an operator and an arm control chip for converting the arm actions into arm action signals, and the arm sensing module is in communication connection with the arm control chip; the handle control chip and/or the arm control chip are/is communicated and interconnected with a robot control chip on the bionic robot; the handle controller is provided with more than one control key for controlling the bionic robot to move, and the control keys are connected with a handle control chip.
The handle controller comprises a left handle controller operated by the left hand of an operator and a right handle controller operated by the right hand of the operator; the bionic robot is provided with a left moving mechanism and a right moving mechanism; the control keys on the left handle controller comprise a left forward key for controlling the left moving mechanism to move forward and a left backward key for controlling the left moving mechanism to move backward; the control keys on the right handle controller comprise a right forward key for controlling the right moving mechanism to move forward and a right backward key for controlling the right moving mechanism to move backward; simultaneously touching a left forward key and a right forward key to control the bionic robot to move forward; simultaneously touching a left back key and a right back key to control the bionic robot to back; simultaneously touching a left forward key and a right backward key to control the robot to rotate to the right; and simultaneously touching the left backward key and the right forward key to control the robot to turn left.
The arm controller comprises a left arm controller worn on the left arm of an operator and a right arm controller worn on the right arm of the operator; the handle control chip on the left handle controller is communicated and interconnected with the robot control chip through an arm control chip on the left arm controller; and the handle control chip on the right handle controller is communicated and interconnected with the robot control chip through an arm control chip on the right arm controller.
The arm control chip is communicated and interconnected with the robot control chip through communication modes such as Bluetooth, wireless routing, 4G signals or 5G signals and the like.
And the handle controller and/or the arm controller are/is provided with a power supply unit, and the handle control chip and the arm control chip are respectively connected with the corresponding power supply units.
The handle controller is provided with a handle power switch for controlling the on-off of the handle control chip; and/or an arm power switch for controlling the on/off of the arm control chip is arranged on the arm controller.
The handle controller is provided with a handle transmitting terminal for transmitting excitation information, and the handle transmitting terminal is connected with a handle control chip; the arm controller is provided with an arm receiving terminal for receiving an external signal and an arm transmitting terminal for transmitting excitation information; the handle transmitting terminal is in communication connection with the arm receiving terminal, and the arm transmitting terminal is in communication interconnection with the robot control chip.
And a reset switch is arranged on the arm controller, and when the position signal of the handle sensing module and/or the arm sensing module is wrong, the memory data is reset through the reset switch.
The invention has the following beneficial effects:
the handle controller is used for being grasped by an operator, and the arm controller is worn on the arm of the operator; when the bionic robot is operated, an operator can control the handle controller and the arm controller to move freely, a handle sensing module in the handle controller senses the position change of the handle controller, an arm sensing module in the arm controller senses the position change of the arm controller, and then a wrist action signal and an arm action signal are respectively sent to the bionic robot through a handle control chip and an arm control chip, and the bionic robot immediately makes corresponding actions according to the received wrist working signal and the received arm action signal; the control device has high control mode accuracy and good synchronization effect, can directly control the bionic robot by sensing the action of an operator, can more closely simulate the operator to make more actions, does not need to learn a control method additionally, is simple and convenient to operate, and can be used by hands; in addition, the robot can be controlled to move through simple combination of different control keys on the handle controller, namely the robot can move and complete arm actions. Compared with the existing remote controllers on the market, the handheld control device of the robot is more flexible to operate, an operator can operate the hole robot at will through actions, all the actions do not need programming, dense and numb keys do not need to be arranged, relevant operation methods do not need to be learned, the operation is very easy, and users at different ages can operate the robot at will.
Drawings
Fig. 1 is a schematic view illustrating a robot hand-held control device according to an embodiment of the present invention.
Fig. 2 is a schematic view of a biomimetic robot in an embodiment of the present disclosure.
Fig. 3 is a schematic diagram of a robot hand-hold control device according to an embodiment of the invention.
Fig. 4 is a schematic diagram illustrating the forward control of the robot hand-held control device according to an embodiment of the present invention.
Fig. 5 is a schematic diagram illustrating the backward control of the robot gripping control device according to an embodiment of the present invention.
Fig. 6 is a schematic diagram illustrating a right rotation control of the robot hand-held control device according to an embodiment of the present invention.
Fig. 7 is a schematic diagram illustrating left-turning control of the robot hand-held control device according to an embodiment of the present invention.
Fig. 8 is an exploded view of a right handle controller in accordance with an embodiment of the present invention.
FIG. 9 is an exploded view of the right arm controller in accordance with one embodiment of the present invention.
Fig. 10 is a schematic view illustrating forward control of the biomimetic robot according to an embodiment of the present disclosure.
Fig. 11 is a schematic diagram illustrating a backward control of the biomimetic robot in an embodiment of the present disclosure.
Fig. 12 is a schematic diagram illustrating a right turn control of the biomimetic robot in an embodiment of the present disclosure.
Fig. 13 is a schematic diagram illustrating left turn control of the biomimetic robot in an embodiment of the present disclosure.
Detailed Description
The invention is further described with reference to the following figures and examples.
Referring to fig. 1-13, the hand-held control device of the robot comprises a handle controller for controlling the wrist action of the bionic robot a and an arm controller for controlling the arm action of the bionic robot a; the handle controller comprises a handle sensing module for sensing the wrist action of an operator and a handle control chip for converting the wrist action into a wrist action signal, and the handle sensing module is in communication connection with the handle control chip through wires; the arm controller comprises an arm sensing module for sensing arm actions of an operator and an arm control chip for converting the arm actions into arm action signals, and the arm sensing module is in communication connection with the arm control chip through a wire; the handle control chip and/or the arm control chip are/is communicated and interconnected with a robot control chip on the bionic robot A; the handle controller is provided with more than one control key for controlling the bionic robot A to move, the control keys are connected with a handle control chip, and the handle control chip processes an instruction signal generated when the control keys are touched. When an operator needs to control the bionic robot A, as long as the manipulator holds a control device (a handle controller is held and an arm controller is worn on the arm of the operator) and the handle controller and the arm controller move along with the hand, the controller generates corresponding action signals according to the change of the self moving position and sends the action signals to a robot control chip, and the robot control chip synchronously controls the hand of the bionic robot to make corresponding actions according to the related action signals; in addition, the bionic robot A can be controlled to move simultaneously by touching the control keys in a combined mode; the control device adopts the sensing module (the handle sensing module and the arm sensing module) to sense the action, so that the action synchronism and the angle accuracy of an operator and the bionic robot A can be ensured, the bionic robot A can make the action desired by the operator without programming, the action can be changed at will, and the operation is more convenient and more interesting.
As a specific embodiment: the handle controller comprises a left handle controller 1 controlled by the left hand of an operator and a right handle controller 2 controlled by the right hand of the operator, so that the left hand of the operator can control the mechanical left wrist of the bionic robot A and the right hand can control the mechanical right wrist of the bionic robot A, and specifically, the left handle controller 1 is held by the left hand of the operator and the right handle controller 2 is held by the right hand of the operator; the bionic robot A is provided with a left moving mechanism A1 and a right moving mechanism A2; the control keys on the left handle controller 1 comprise a left forward key 101 for controlling the forward movement of the left moving mechanism A1 and a left backward key 102 for controlling the backward movement of the left moving mechanism A1; the control keys on the right handle controller 2 comprise a right forward key 201 for controlling the forward movement of the right moving mechanism A2 and a right backward key 202 for controlling the backward movement of the right moving mechanism A2; referring to fig. 10, the left advance key 101 and the right advance key 201 are simultaneously touched to control the biomimetic robot a to advance; referring to fig. 11, the left back key 102 and the right back key 202 are simultaneously touched to control the biomimetic robot a to back; referring to fig. 12, the left forward key 101 and the right backward key 202 are simultaneously touched to control the robot to turn right; referring to fig. 13, the left back key 102 and the right forward key 201 are simultaneously activated to control the robot to turn left.
Furthermore, the arm controller comprises a left arm controller 3 worn on the left arm of the operator and a right arm controller 4 worn on the right arm of the operator, so that the left arm of the operator can control the mechanical left arm of the bionic robot A, and the right arm of the operator can control the mechanical right arm of the bionic robot A; the left arm controller 3 is matched with the left handle controller 1 and is in communication connection with the left handle controller 1 through a corresponding communication line 5, and the right arm controller 4 is matched with the right handle controller 2 and is in communication connection with the right handle controller 2 through a corresponding communication line 5; a handle control chip on the left handle controller 1 is communicated and interconnected with a robot control chip through an arm control chip on the left arm controller 3; and a handle control chip on the right handle controller 2 is communicated and interconnected with the robot control chip through an arm control chip on the right arm controller 4.
Furthermore, the arm control chip is communicated and interconnected with the robot control chip through communication modes such as Bluetooth, wireless routing, 4G signals or 5G signals, and the like, so that the control is not limited by distance, and the remote control can be realized.
Further, the left handle controller 1 and the right handle controller 2 have the same structure, and the right handle controller 2 is taken as an example for further explanation; the left arm controller 3 and the right arm controller 4 have the same structure, and the right arm controller 4 is taken as an example for further explanation:
the handle power supply unit 206 is arranged on the right handle controller 2 (left handle controller 1), and the handle control chip 203 on the right handle controller 2 (left handle controller 1) is electrically connected with the handle power supply unit 206; an arm power supply unit 407 is arranged on the right arm controller 4 (left arm controller 3), and an arm control chip 408 on the right arm controller 4 (left arm controller 3) is electrically connected with the arm power supply unit 107; the handle power supply unit 206 and the arm power supply unit 407 may be rechargeable lithium batteries or accumulators, which provide the necessary power for the operational use of the present control device.
A handle power switch 205 for controlling the on/off of the handle control chip 203 is arranged on the right handle controller 2 (left handle controller 1); the right arm controller 4 (left arm controller 3) is provided with an arm power switch 404 for controlling the arm control chip 408 to be turned on or off.
The right handle controller 2 (left handle controller 1) is provided with a handle transmitting terminal 207 for transmitting excitation information, and the handle transmitting terminal 207 is connected with the handle control chip 203 through a wire; the right arm controller 4 (left arm controller 3) is provided with an arm receiving terminal 409 for receiving external signals and an arm transmitting terminal 403 for transmitting excitation information, and the arm receiving terminal 409 and the arm transmitting terminal 403 are respectively connected with an arm control chip 408; the handle transmitting terminal 207 and the arm receiving terminal 409 are connected with each other through a communication line 5 in a communication mode, and the arm transmitting terminal 403 is interconnected with the robot control chip in a communication mode.
The right arm controller 4 (left arm controller 3) is provided with a reset switch 406, the reset switch 406 is connected with the arm control chip 408, and when the position signal of the handle sensing module and/or the arm sensing module is wrong, the memory data is reset through the reset switch 406.
The right handle controller 2 (left handle controller 1) comprises a first handle shell 204 and a second handle shell 208 which are matched and assembled with each other, and the first handle shell 204 and the second handle shell 208 are assembled together to form a cavity for accommodating the handle control chip 203, the handle power switch 205, the handle power supply unit 206 and the handle transmitting terminal 207; the right forward key 201 and the right backward key 202 are respectively arranged on the second handle shell 208 and are respectively connected with the handle control chip 203; the first handle shell 204 and the second handle shell 208 are made of resin materials respectively, so that the right handle controller 2 (the left handle controller 1) is very light and convenient to use, and cannot feel tired after being used for a long time.
The right arm controller 4 (left arm controller 3) comprises a first arm shell 402 and a second arm shell 410 which are matched and assembled with each other, and the first arm shell 402 and the second arm shell 410 are assembled together to form a cavity for accommodating an arm control chip 408, an arm power switch 404, an arm power supply unit 407, an arm transmitting terminal 403 and an arm receiving terminal 409; in addition, an indicator lamp 401 and a charging terminal 405 which are respectively connected with the arm control chip 408 are also arranged, and the indicator lamp 401 comprises a power signal lamp for judging whether to be electrified and a communication signal lamp for judging whether to carry out signal connection; the first arm shell 402 and the second arm shell 410 are made of resin materials respectively, so that the right arm controller 4 (the left arm controller 3) is very light and convenient to use, and can not feel tired after being used for a long time; the arm control chip 408 mainly processes the spatial three-dimensional coordinates of the handle sensing module 203 and the arm sensing module 408 on the body of the operator, and sends out an excitation signal to a motor or a steering engine on the bionic robot A through calculation, so that the bionic robot simulates the operator to make corresponding actions.
The foregoing is a preferred embodiment of the present invention, and the basic principles, principal features and advantages of the invention are shown and described. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are intended to illustrate the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, and the invention is intended to be protected by the following claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. A control device is held to robot, its characterized in that: comprises a handle controller for controlling the wrist action of the bionic robot (A) and an arm controller for controlling the arm action of the bionic robot (A); the handle controller comprises a handle sensing module and a handle control chip, wherein the handle sensing module is used for sensing the wrist action of an operator, the handle control chip is used for converting the wrist action into a wrist action signal, and the handle sensing module is in communication connection with the handle control chip; the arm controller comprises an arm sensing module for sensing arm actions of an operator and an arm control chip for converting the arm actions into arm action signals, and the arm sensing module is in communication connection with the arm control chip; the handle control chip and/or the arm control chip are/is communicated and interconnected with a robot control chip on the bionic robot (A); the handle controller is provided with more than one control key for controlling the bionic robot (A) to move, and the control keys are connected with a handle control chip.
2. The robotic hand grip control device of claim 1, wherein: the handle controller comprises a left handle controller (1) operated by the left hand of an operator and a right handle controller (2) operated by the right hand of the operator; the bionic robot (A) is provided with a left moving mechanism (A1) and a right moving mechanism (A2); the control keys on the left handle controller (1) comprise a left forward key (101) for controlling the left moving mechanism (A1) to move forward and a left backward key (102) for controlling the left moving mechanism (A1) to move backward; the control keys on the right handle controller (2) comprise a right forward key (201) for controlling the forward movement of the right moving mechanism (A2) and a right backward key (202) for controlling the backward movement of the right moving mechanism (A2).
3. The robotic hand grip control device of claim 2, wherein: the arm controller comprises a left arm controller (3) worn on the left arm of an operator and a right arm controller (4) worn on the right arm of the operator; a handle control chip on the left handle controller (1) is communicated and interconnected with a robot control chip through an arm control chip on the left arm controller (3); and a handle control chip on the right handle controller (2) is communicated and interconnected with a robot control chip through an arm control chip on the right arm controller (4).
4. The robotic hand grip control device of claim 3, wherein: the arm control chip is communicated and interconnected with the robot control chip through Bluetooth, a wireless router, a 4G signal or a 5G signal.
5. The robotic hand grip control device of claim 1, wherein: and the handle controller and/or the arm controller are/is provided with a power supply unit, and the handle control chip and the arm control chip are respectively connected with the corresponding power supply units.
6. The robotic hand grip control device of claim 5, wherein: the handle controller is provided with a handle power switch for controlling the on-off of the handle control chip; and/or an arm power switch for controlling the on/off of the arm control chip is arranged on the arm controller.
7. The robotic hand grip control device of claim 1, wherein: the handle controller is provided with a handle transmitting terminal for transmitting excitation information, and the handle transmitting terminal is connected with a handle control chip; the arm controller is provided with an arm receiving terminal for receiving an external signal and an arm transmitting terminal for transmitting excitation information; the handle transmitting terminal is in communication connection with the arm receiving terminal, and the arm transmitting terminal is in communication interconnection with the robot control chip.
8. The robotic hand grip control device of claim 1, wherein: and a reset switch is arranged on the arm controller, and when the position signal of the handle sensing module and/or the arm sensing module is wrong, the memory data is reset through the reset switch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911096180.7A CN110744571A (en) | 2019-11-11 | 2019-11-11 | Robot hand-held control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911096180.7A CN110744571A (en) | 2019-11-11 | 2019-11-11 | Robot hand-held control device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110744571A true CN110744571A (en) | 2020-02-04 |
Family
ID=69282901
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911096180.7A Pending CN110744571A (en) | 2019-11-11 | 2019-11-11 | Robot hand-held control device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110744571A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112603721A (en) * | 2020-12-18 | 2021-04-06 | 温州市中心医院 | Cardiovascular intervention operation treatment bed |
| CN114833849A (en) * | 2022-06-06 | 2022-08-02 | 深圳市尚为照明有限公司 | Explosion-proof robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1932632A2 (en) * | 2006-12-01 | 2008-06-18 | NIKKO Co., Ltd. | Video reproducing apparatus |
| CN203620245U (en) * | 2013-12-19 | 2014-06-04 | 广东东信玩具实业有限公司 | Toy handle remote controller |
| CN106426166A (en) * | 2016-09-30 | 2017-02-22 | 西北大学 | VR (virtual reality) system for remotely controlling mechanical devices |
| CN209240004U (en) * | 2018-09-26 | 2019-08-13 | 林祉谦 | Intelligent machine arm system |
| CN110328648A (en) * | 2019-08-06 | 2019-10-15 | 米召礼 | A kind of man-machine working machine moved synchronously |
| CN211250057U (en) * | 2019-11-11 | 2020-08-14 | 路邦科技授权有限公司 | Robot hand-held control device |
-
2019
- 2019-11-11 CN CN201911096180.7A patent/CN110744571A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1932632A2 (en) * | 2006-12-01 | 2008-06-18 | NIKKO Co., Ltd. | Video reproducing apparatus |
| CN203620245U (en) * | 2013-12-19 | 2014-06-04 | 广东东信玩具实业有限公司 | Toy handle remote controller |
| CN106426166A (en) * | 2016-09-30 | 2017-02-22 | 西北大学 | VR (virtual reality) system for remotely controlling mechanical devices |
| CN209240004U (en) * | 2018-09-26 | 2019-08-13 | 林祉谦 | Intelligent machine arm system |
| CN110328648A (en) * | 2019-08-06 | 2019-10-15 | 米召礼 | A kind of man-machine working machine moved synchronously |
| CN211250057U (en) * | 2019-11-11 | 2020-08-14 | 路邦科技授权有限公司 | Robot hand-held control device |
Non-Patent Citations (1)
| Title |
|---|
| 中国人工智能学会编, 北京邮电大学出版社, pages: 447 - 448 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112603721A (en) * | 2020-12-18 | 2021-04-06 | 温州市中心医院 | Cardiovascular intervention operation treatment bed |
| CN112603721B (en) * | 2020-12-18 | 2023-10-13 | 温州市中心医院 | Cardiovascular intervention operation treatment bed |
| CN114833849A (en) * | 2022-06-06 | 2022-08-02 | 深圳市尚为照明有限公司 | Explosion-proof robot |
| CN114833849B (en) * | 2022-06-06 | 2024-01-16 | 深圳市尚为照明有限公司 | Explosion-proof robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Rubenstein et al. | Kilobot: A low cost scalable robot system for collective behaviors | |
| CN210200069U (en) | Programmable robot | |
| JP3188939U (en) | Robot system | |
| US10220512B2 (en) | Position/force controller, and position/force control method and program | |
| US20170348858A1 (en) | Multiaxial motion control device and method, in particular control device and method for a robot arm | |
| CN110599875A (en) | Multi-mode remote controller and control method thereof | |
| US20130217294A1 (en) | Toy brick with sensing, actuation and control | |
| CN103192390B (en) | Control system of humanoid robot | |
| CN110744571A (en) | Robot hand-held control device | |
| US5982353A (en) | Virtual body modeling apparatus having dual-mode motion processing | |
| Jdeed et al. | Spiderino-a low-cost robot for swarm research and educational purposes | |
| CN211250057U (en) | Robot hand-held control device | |
| CN207457837U (en) | A kind of Intelligent glove and unmanned plane for being used to control unmanned plane | |
| CN106139610A (en) | A kind of toy remote control device using gesture to control | |
| CN209885234U (en) | Excavator toy based on gesture control | |
| CN210222692U (en) | Gesture control gloves of multi freedom | |
| Turgut et al. | Kobot: A mobile robot designed specifically for swarm robotics research | |
| CN204893959U (en) | Robot drags teaching system fast | |
| JP4505998B2 (en) | Mobile robot and data communication control method between mobile robots | |
| CN102024345A (en) | Domestic teaching mobile point-to-read robot | |
| JPH05228854A (en) | Method for controlling arm having 7 degree of freedom | |
| CN106863302B (en) | Robot charging device and implementation method thereof | |
| CN104856858A (en) | Teaching and playback massage manipulator | |
| CN210488288U (en) | Head sensing control device for controlling robot | |
| CN211104081U (en) | Seven-axis bionic mechanical arm and control system thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200204 |
|
| RJ01 | Rejection of invention patent application after publication |